Theorem 3.9 
Let \(\mathbf {G}\in \mathbb {R}_p(\lambda )^{p\times m}\)  be given by a stabilizable and detectable realization of type (REF )-() and let \(\mathbf {K}\in \mathbb {R}_p(\lambda )^{m\times p}\)  be an internally stabilizing controller of \(\mathbf {G}\) , which is described by an NRF pair \((\mathbf {\Phi },\mathbf {\Gamma })\)  as in (REF )-(REF ). Then, by implementing stabilizable and detectable realizations for each \(e_i^\top \begin{bmatrix}\mathbf {\Phi }&\mathbf {\Gamma }\end{bmatrix}\) , with \(i\in 1:m\) , and by computing the commands as in (REF ), the state dynamic of the closed-loop system from Fig. REF  is made asymptotically stable (see Section 5.3 in [1]}).

